Modular stamped parts transfer gripper

ABSTRACT

A mounting bracket for a fluid actuated parts gripper having a body, a body member portion and a plurality of longitudinally extending fasteners is provided. The body member portion is removably attached to the body. A first through-opening is configured to receive the fluid actuated parts gripper and a second through-opening is configured to receive a support. The body has a variable slot configured to reduce and increase the diameter of the second through-opening to lock and unlock the support. The plurality of longitudinally extending fasteners removably attach the body member portion to the body.

RELATED APPLICATIONS

The present disclosure is a Continuation of U.S. patent application Ser.No. 09/893,849 (filed on Jun. 28, 2001) now U.S. Pat. No. 6,425,616,which is a Continuation of U.S. patent application Ser. No. 09/767,527(filed on Jan. 23, 2001) now abandoned, which is a Continuation of Ser.No. 09/483,792 (filed on Jan. 14, 2000), now U.S. Pat. No. 6,176,533,which is a Divisional application of U.S. patent application Ser. No.08/981,863 (filed on Aug. 4, 1998), now U.S. Pat. No. 6,048,013, whichis related to and claims priority to U.S. Provisional Patent ApplicationSerial No. 60/027,668 (filed Oct. 7, 1996) and U.S. Provisional Patentapplication Serial No. 60/039,088 (filed Mar. 14, 1997), the completedisclosures of all of these applications are hereby expresslyincorporated into the present application.

TECHNICAL FIELD

The present disclosure relates to fluid pressure actuated grippers ofthe type employed in automated workpiece handling devices whichclampingly grip and transfer a workpiece from one station to another.More particularly, the present disclosure relates to fluid pressureactuated grippers which can be locked in either or both of their closedor open positions and which are assembled from a plurality of modular orinterchangeable components.

BACKGROUND AND SUMMARY

Fluid pressure actuated grippers are widely employed and typically takethe form of a pneumatic or hydraulic differential motor whose cylinderis fixedly mounted to a transfer device. At the forward or rod end ofthe cylinder housing, a gripper jaw mounting structure is fixedlymounted on the cylinder to pivotally support a pair of opposed gripperjaws which are coupled to the piston rod of the motor by a linkage soarranged that upon movement of the piston in one direction the jaws arepivoted to an open position and upon movement of the piston in theopposite direction the jaws are driven to a closed workpiece grippingposition.

In typical operation, the gripper jaws will be closed upon a workpiecenear the edge of the workpiece and the gripper will be advanced toposition the gripped workpiece in operative relationship with a workstation. The gripper will then be opened to release the workpiece andthe transfer device will retract the gripper from the work station whilethe work operation is performed. At the conclusion of the workoperation, the gripper will then advance back into the work station andthe jaws will again close upon the workpiece and carry it away from thework station. Opening and closing the gripper jaws thus takes place whenthe gripper is in its closest proximity to tooling at the work station.

There are basically two types of linkage arrangements used in fluidpressure actuated grippers to connect the gripper jaws to the pistonrods and effect movement of the gripper jaws. These are pivotable linkarrangements and pivotal cam arrangements. An example of a pivotal linkarrangement can be found in U.S. Pat. No. 5,152,568 to Blatt whichdiscloses pivotal links 36 and 40 that cooperate with gripper jaws 12Aand 12B as shown in FIG. 3.

U.S. Pat. No. 4,518,187 to Blatt et al. discloses a pivotal camarrangement in which jaw plates 45 and 47 are pivoted by the cooperationof cam slots 61 provided in the jaw plates and a pivot pin 37 (androllers 39) attached to the piston rod.

In a typical production line, there are numerous work stations with oneor more fluid pressure actuated gripper devices positioned betweenadjacent work stations. During operation, all of the gripper devices aresynchronized so that they simultaneously remove a workpiece from onework station and transfer the workpiece to the next work station. Insuch an operation, a problem can occur if any one of the gripper devicesfails to properly grip a workpiece. For example, if a workpiece slipsfrom its initial gripped position it can become sufficiently out ofalignment to prevent its transfer to a succeeding gripper device. A moreserious problem can occur if a workpiece is transferred in a misalignedmanner and subsequently positioned at a work station in a misalignedfashion. Such an incident can damage the work station. Another problemwhich can occur is completely losing grip of a workpiece and droppingthe workpiece. Losing grip of a workpiece can occur when there is a leakor failure of fluid pressure supplied to the piston rod actuator.

Fluid pressure actuated grippers are generally designed for use withparticular workpieces to be transferred and with specific work stations.For example, some workpieces and/or work stations may require wider ornarrower gripper jaws, different types of gripper jaws, gripper jawsthat open at different angles, different clearance requirements, etc.Because of the wide variety of design or performance options required ofgrippers, manufacturing facilities which utilize fluid actuated gripperstypically have numerous sets of grippers which are designed to transportdifferent workpieces between specific work stations. The requirement ofstocking multiple sets of grippers adds to the manufacturer's costs.

Accordingly, an illustrative embodiment of the present disclosureprovides a mounting bracket for a fluid actuated parts gripper whichcomprises a body, a body member portion and a plurality oflongitudinally extending fasteners. The body member portion is removablyattached to the body and is adjacent first and second through-openings.The first through-opening is configured to receive the fluid actuatedparts gripper and the second through-opening configured to receive asupport. The body has a pair of variable slots such that one of thevariable slots is configured to reduce and increase the diameter of thefirst through-opening to lock and unlock the parts gripper,respectively. The other of the variable slots is configured to reduceand increase the diameter of the second through-opening to lock andunlock the support, respectively. The plurality of longitudinallyextending fasteners removably attach the body member portion to thebody.

Other illustrative embodiments may further provide the firstthrough-opening being cylindrical shaped and the second through-openingbeing circular with a semi-spherical concave shaped recess disposedtherein; one of the plurality of fasteners locks and unlocks thesupport; and the second through-opening comprises a semi-sphericalcollar.

Another illustrative embodiment of the present disclosure provides amounting bracket to hold a fluid actuated parts gripper which comprisesa bracket body, a body member, and first and second longitudinallyextending fasteners. The bracket body has first and secondthrough-openings. The first through-opening is configured to receive thefluid actuated parts gripper and the second through-opening isconfigured to receive a support. The body member is removably attachedto the bracket body. The body member comprises a portion of the firstand second through-openings and comprises first and second segments eachadjacent to and extending from the portion of the secondthrough-opening. Each of the first and second segments is alsopositioned facing corresponding first and second segments of the bracketbody. A variable space is provided between the first segments of thebody member and the bracket body. The second segments of the body memberand the bracket body abut each other, and the second through-openingcomprises a diameter that is variable when the second segments of thebody member and the bracket body abut each other. The firstlongitudinally extending fastener extends into the first segments of thebody member and the bracket body and the variable space. The secondlongitudinally extending fastener extends into the second segments ofthe body member and bracket body. The first longitudinally extendingfastener varies the size of the variable space which is proportional tothe variable diameter of the second through-opening. A reduction in boththe variable space and in the variable diameter of the secondthrough-opening secures the mounting bracket to the support, while thesecond longitudinally extending fastener maintains abutment of thesecond segments of the body member and the bracket body. In addition, anincrease in both the variable space and the variable diameter of thesecond through-opening loosens the mounting bracket to the support alsowhile the second longitudinally extending fastener still maintainsabutment of the second segments of the body member to the bracket body.

Other illustrative embodiments may further provide the bracket bodyhaving a second variable space between the bracket body and body memberwhich is proportional to a variable diameter of the firstthrough-opening; the first through-opening is cylindrical shaped and thesecond through-opening is circular with a semi-spherical concave shapedrecess disposed therein; one fastener locks and unlocks the support; andthe second through-opening comprising a semi-spherical collar.

Another illustrative embodiment of the present disclosure provides amounting bracket to hold a fluid actuated parts gripper which comprisesa body and longitudinally extending fasteners. The body has first andsecond through-openings. The first through-opening is configured toreceive the fluid actuated parts gripper and the second through-openingis configured to receive a support. Each of the longitudinally extendingfasteners is disposed substantially parallel to each other and arespaced apart from each other by a distance greater than the diameter ofthe second through-opening. The fasteners also extend through the bodyon opposed sides of the second through-opening. The secondthrough-opening has a single variable space extending from the secondthrough-opening and through the body to its periphery. One of thelongitudinally extending fasteners extends through the variable space tovary the diameter of the second through-opening to lock and unlock inposition the support with respect to the mounting bracket.

Other illustrative embodiments may further provide the body havingvariable space disposed therein in communication with the firstthrough-opening to vary the diameter of the first through-opening; thefirst through-opening being cylindrical shaped and the secondthrough-opening being circular with a semi-spherical concave shapedrecess disposed therein; one of the longitudinally extending fastenerslocks and unlocks the support; and the second through-opening comprisesa semi-spherical collar.

Another illustrative embodiment of the present disclosure provides amounting bracket to hold a fluid actuated parts gripper which comprisesa body and bolts. The body has first and second through-openings. Thefirst through-opening is configured to receive the fluid actuated partsgripper and the second through-opening is configured to receive asupport. The first and second through-openings are of unequal diameters.The body comprises first and second coupled plate members having opposedfacing surfaces extending to first and second segments each of the firstand second coupled plate members, respectively. Opposed facing surfacesof each of the first and second coupled plate members define the secondthrough-opening. The opposed facing surfaces of the first segments ofthe first and second coupled plate members form a slot opening. Theopposed facing surfaces of the second segments of the first and secondcoupled plate members abut each other. The bolts couple the pair ofcoupled plates together and the bolts are located on opposite sides ofthe second through-opening. One of the bolts is disposed through theopposed facing surfaces of the second segments of the first and secondcoupled plate members to securely abut the opposed facing surfacestogether. Another of the bolts is disposed through the opposed facingsurfaces of the first segments of the first and second coupled platemembers to reduce or enlarge the slot opening to, respectively, lock andunlock in position the support with respect to the mounting bracket.

Other illustrative embodiments may further provide the body having avariable space in communication with the first through-opening to varythe diameter of the first through-opening; the first through-openingbeing cylindrical shaped and the second through-opening being circularwith a semi-spherical concave shaped recess disposed therein; one of thebolts locks and unlocks the support; and the second through-openingcomprising a semi-spherical collar.

Another illustrative embodiment of the present disclosure provides amounting bracket to hold a fluid actuated parts gripper which comprisesa body, a semi-spherical collar and bolts. The body has first and secondthrough-openings. The first through-opening is configured to receive thefluid actuated parts gripper and the second through-opening isconfigured to receive a support. The first and second through-openingsare of unequal diameters. The semi-spherical collar is disposed in thesecond through-opening. The body comprises first and second coupledplate members having opposed facing surfaces extending to first andsecond segments each of the first and second coupled plate members,respectively. Opposed facing surfaces of each of the first and secondcoupled plate members define the second through-opening. The opposedfacing surfaces of the first segments of the first and second coupledplate members form a first single slot opening in communication with thesecond through-opening, and the opposed facing surfaces of the secondsegments of the first and second coupled plate members abut each other.The opposed facing surfaces of the first segments of the first andsecond coupled plate members form a second single slot opening incommunication with the first through-opening. The bolts couple thecoupled plates together such that the bolts are located on oppositesides of the second through-opening. One of the bolts is disposedthrough the opposed facing surfaces of the second segments of the firstand second coupled plate members to securely abut the opposed facingsurfaces together. Another of the bolts is disposed through the opposedfacing surfaces of the first segments of the first and second coupledplate members to reduce or enlarge the slot opening to, respectively,lock and unlock in position the support with respect to the mountingbracket.

Other illustrative embodiments may further provide the body being madefrom a material which is softer than a material from which thesemi-spherical collar is made; and the semi-spherical collar having anouter surface which is roughened.

Another illustrative embodiment of the present disclosure provides amounting bracket for a workpiece holder comprising a plurality ofcoupled plate members. The plurality of coupled plate members havingopposed facing surfaces and first and second spaced apartthrough-openings provided between the coupled plate members and definedin the opposed facing surfaces thereof. The first through-opening has acylindrical bore and the second through-opening has a semi-sphericalshaped bore and the second through-opening is beveled at opposed ends.

Another illustrative embodiment of the present disclosure provides anassembly for mounting a workpiece holder to a support which comprises aworkpiece holder, a mounting bracket and a spherical collar. Theworkpiece holder includes at least one movable jaw and a body having acylindrical portion. The mounting bracket includes a plurality ofcoupled plate members having opposed facing surfaces. First and secondspaced apart through-openings are provided between the coupled platemembers in which each of the through-openings is defined in the opposedfacing surfaces of the plurality of coupled plates. The firstthrough-opening has a cylindrical bore, the second through-opening has apartial spherical shaped bore, and the cylindrical portion of theworkpiece holder body is positioned within the first through-opening.The spherical collar is positioned in the second through-opening. Otherillustrative embodiments may further provide the second through-openingbeing beveled at opposed ends.

Another illustrative embodiment of the present disclosure provides anassembly for mounting a workpiece holder to a support member whichcomprises a workpiece holder, a mounting bracket, and bolts. Theworkpiece holder includes at least one movable jaw and a body having acylindrical portion. The mounting bracket comprises a plurality ofcoupled plate members each having opposed facing surfaces and first andsecond spaced apart through-openings provided between the coupled platemembers. The through-openings are defined in the opposed facing surfacesof the coupled plates, wherein the first through-opening has acylindrical bore, the second through-opening has a partial sphericalshaped bore, and the cylindrical portion of the workpiece holder body ispositioned within the first through-opening. The support member ispositioned within the second through-opening. The bolts couple theplurality of coupled plate members together, the bolts located atopposite ends of the coupled plate members, wherein the support membercan independently rotate 360 degrees and pivot within the secondthrough-opening when one of the bolts located adjacent the secondthrough-opening is loosened. Other illustrative embodiments may furtherprovide the workpiece holder being independently rotatable 360 degreeswithin the first through-opening when one of the bolts located adjacentthe first through-opening is loosened.

Another illustrative embodiment of the present disclosure provides amounting bracket for a workpiece holder which comprises a plurality ofcoupled plate members. The plurality of coupled plate members havingopposed facing surface. The coupled plate members also have first andsecond spaced apart through-openings provided between the plurality ofcoupled plate members and defined adjacent the opposed facing surfacesthereof. The first through-opening has a cylindrical bore and the secondthrough-opening has a partial spherical shaped bore.

Other illustrative embodiments may further provide the plurality ofcoupled plate members being coupled together by bolts which are locatedon opposite sides of the second through-opening, and the plurality ofcoupled plate members can be uncoupled by removing the bolts; and thefirst through-opening has a diameter which is larger than a diameter ofthe second through-opening.

Another illustrative embodiment of the present disclosure provides anassembly for mounting a workpiece holder to a support which comprises aworkpiece holder, a mounting bracket and longitudinally extendingfasteners. The workpiece holder including at least one movable jaw and abody having a cylindrical portion. The mounting bracket including aplurality of coupled plate members having opposed facing surfaces, andfirst and second spaced apart through-openings provided between theplurality of coupled plate members. The through-openings are definedadjacent the opposed facing surfaces of the plurality of coupled plates.The first through-opening has a cylindrical bore, the secondthrough-opening has a semi-spherical shaped bore, and the cylindricalportion of the workpiece holder body is positioned within the firstthrough-opening. The longitudinally extending fasteners are located ateach of the facing surfaces on opposite sides of each of the secondthrough-opening for coupling the plurality of plate members.

Additional features and advantages of the gripper assembly will becomeapparent to those skilled in the art upon consideration of the followingdetailed description of the illustrated embodiment exemplifying the bestmode of carrying out the gripper assembly as presently perceived.

BRIEF DESCRIPTION OF DRAWINGS

The present disclosure will be described hereafter with reference to theattached drawings which are given as non-limiting examples only, inwhich:

FIG. 1 is an exploded view of a gripper device;

FIG. 1a is an exploded view of the piston assembly of the gripper deviceof FIG. 1;

FIG. 2 is a cross-sectional view of the gripper device of FIG. 1 withthe jaws in a closed position;

FIG. 3 is a cross-sectional view of the gripper device of FIG. 1 withthe jaws in an open position;

FIG. 4 is a partial cross-sectional view of FIG. 2 taken along planeIV—IV;

FIG. 5 is an exploded view of a gripper device;

FIG. 5a is an exploded view of the piston assembly of the gripper deviceof FIG. 5;

FIG. 6 is a cross-sectional view of the gripper device of FIG. 5 withthe jaws in a closed position;

FIG. 7 is a cross-sectional view of the gripper device of FIG. 5 withthe jaws in an open position;

FIG. 8 is a partial cross-sectional view of FIG. 6 taken along planeIV—IV;

FIGS. 9a and 9 b are side views of an adjustable gripper tiparrangement;

FIG. 10 is an exploded prospective view which depicts components of amodular gripper;

FIGS. 11a-11 g are schematic views which depict a pivotal gripper jawhaving a recessed tip seat;

FIGS. 12a and 12 b are schematic views which depict embodiments of conegripper tips;

FIGS. 13a-13 c are schematic views which depict embodiments of receiverpoint gripper tips;

FIGS. 14a, 14 b, 15 a and 15 b are schematic views which depictembodiments of padded gripper tips;

FIGS. 16a-16 d and 17 a-17 d are schematic views which depictembodiments of diamond point pad gripper tips;

FIGS. 18a-18 d and 19 a-19 e are schematic views which depictembodiments of reversible gripper tips that have double cone points anddouble diamond point pads;

FIGS. 20a-20 c are schematic views which depict a reversible doublepadded gripper tip;

FIGS. 21a and 21 b are schematic views which depict a modular fluidactivated gripper having upper and lower gripper jaws that can pivot 45°outward from the closed position;

FIGS. 22a and 22 b are schematic views which depict a threaded plug thatis designed to be inserted into bottom of the pneumatic or hydrauliccylinder;

FIGS. 23a-23 c are schematic views which depict a reversible threadedplug that is designed to be inserted into bottom of the pneumatic orhydraulic cylinder;

FIGS. 24a and 24 b are schematic views which depict a modular grippersecured in a mounting plate;

FIGS. 25a-25 d are schematic views which depict a self aligning grippertip according to the present disclosure; and

FIGS. 26a and 26 b are schematic views which depict a modular fluidactivated gripper having an upper pivotal gripper jaw 100 c and a lowerstationary gripper jaw 100 i. FIG. 26a is a side view of the modularfluid activated gripper. FIG. 26b is a bottom view of the modular fluidactivated gripper.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplification set out hereinillustrate embodiments of the gripper assembly, and such exemplificationis not to be construed as limiting the scope of the gripper assembly inany manner.

DETAILED DESCRIPTION

The present disclosure is directed to fluid pressure actuated grippersof the type employed in automated workpiece handling devices whichclampingly grip and transfer a workpiece from one station to another.The gripper devices of the present disclosure include a pneumatic orhydraulic differential motor which drives a piston rod in a reciprocalfashion, and a pair of jaws which are attached to the piston rod by amechanical linkage that effects opening and closing of the jaws as thepiston rod undergoes reciprocal motion.

The mechanical linkage which connects the gripper jaws to the piston rodand effects opening and closing of the jaws is a pivotal cam typelinkage. That is, the gripper jaws include a cam slot which receives acam pin that is attached to the piston rod. As the piston rod is movedin a reciprocal manner by the pneumatic or hydraulic differential motor,the cam pin slides through the cam slots causing the gripper jaws toopen and close. According to the present disclosure, the cam slots aredesigned to have a particular shape which effects opening and closing ofthe gripper jaws, and which further causes the gripper jaws to becomelocked in either or both a closed position or an open position. “Locked”in position means that the position of the jaws in a closed and/or openposition cannot be easily changed except by normal fluid operation ofthe pneumatic or hydraulic differential motor. As will be betterunderstood from the following description, this “locking” featureprevents the gripper devices from failing in the event that fluidpressure to the pneumatic or hydraulic differential motor becomesinterrupted.

The present disclosure is further directed to fluid pressure actuatedgrippers which are assembled from a plurality of modular orinterchangeable components. For example, the modular grippers of thepresent disclosure include a common body having a yoke structure, acommon piston assembly which moves in a reciprocal manner in the yokestructure, a cam pin coupled to the piston assembly, and a plurality ofinterchangeable components which can be assembled to the yoke structureand piston assembly to provide modular fluid pressure activated grippershaving diverse performance characteristics. The interchangeablecomponents of the modular grippers include gripper jaws, gripper tips,reversible gripper tips, pneumatic or hydraulic cylinder end closures orplugs, reversible pneumatic or hydraulic cylinder end closures or plugs,and side or impact plates.

FIG. 1 is an exploded view of a gripper device. The gripper deviceincludes a yoke structure 1 which is coupled to a pneumatic or hydraulicdifferential motor cylinder 2 (FIG. 2). The yoke structure 1 includes athrough-bore 3 in the bottom portion thereof for receiving a pneumaticor hydraulic differential motor piston assembly 4 (FIG. 2). The yokestructure 1 further includes a bore 5 for receiving cross piece supportplate 7 which is attached to piston assembly 4. Piston assembly 4 isreceived in pneumatic or hydraulic differential motor cylinder 2 (FIG.2), in a conventional manner. As shown in FIG. 1a, piston assembly 4includes a piston 4 a and piston shaft 4 b attached thereto. Cross piecesupport plate 7 is received on the end of piston shaft 4 b and supportscross piece 8. A threaded screw 6 extends through piston 4 a, pistonshaft 4 b, cross piece support plate 7 and is secured to cross piece 8by inserting threaded end 9 thereof into threaded bore 10 in cross piece8.

The cross piece 8 moves within yoke structure 1 as the cross piecesupport plate 7 moves reciprocally in bore 5, under operation of thepneumatic or hydraulic differential motor. The cross piece 8 includesopposite ends which have cutout central portions 11, as shown, forreceiving gripper jaws 12. In this regard, the gripper jaws 12 includestepped or narrow portions 13 which are received in the cutout centralportions 11 at the ends of cross piece 8. The narrow portions 13 of thegripper jaws 12 include cam slots 14. The cam slots 14 have a particularshape which effects the opening, closing and locking of the gripper jaws12 as will be discussed below. The cam slots 14 are symmetrical to oneanother. Aligned through-bores 15 are provided in the ends of crosspiece 8 as shown. These through-bores 15 receive pivot pins 16 whichpass through cam slots 14 and link the gripper jaws 12 to the crosspiece 8.

As shown in FIG. 1, the upper portion of gripper jaws 12 areapproximately as wide as the gap 17 in yoke structure 1. Through-bores18 are provided in the wide portion of gripper jaws 12. Thesethrough-bores 18 receive pivot pins 19 which pivotally connect thegripper jaws 12 to yoke structure 1, so that the gripper jaws 12 canpivot within yoke gap 17. FIG. 1 depicts bores 20 in the yoke structure1 which receive pivot pins 19. Pivot pins 19 can be secured in bores 20in any convenient manner, such as snap rings, cooperating threadedstructures, etc.

Also illustrated in FIG. 1 are adjustable slide plates 21. These platescan be adjustable so that edge 22 thereof extends slightly beyondsurface 23 of the yoke structure 1. In operation, there is a tendencyfor surface 23 of yoke structure 1 to become worn as it repeatedlycontacts workpieces. Slide plates 21 can be positioned so thatworkpieces come into contact with edge 22 thereof, thus preventing wearon surface 23 of yoke structure 1. Slide plates 21 can be adjustablypositioned by loosening screws 24 which pass through elongated slots 25and into threaded bores 26 and are preferably made from a tempered orotherwise hard metal. Slide plates 21 can be easily adjusted andreplaced as required.

Also illustrated in FIG. 1 is a mounting plate 27 for mounting thegripper device to an articulated support or transfer device. Mountingplate 27 includes two plate portions 28 which can be secured together,by screws or bolts which extend into threaded bores 29. As shown in FIG.2, the pneumatic or hydraulic differential motor cylinder 2 of thegripper device is defined by a wall 30 that includes a stepped or narrowportion 31. This narrow portion 31 is cylindrical, as opposed to theoverall general rectangular shape of the wall 30. When secured together,mounting plates 28 define an opening 32 which extends around narrowcylindrical portion 31 so that the gripper device freely rotates withrespect to the mounting plate 27. Mounting plate 27 also includes anopening 33 which can receive a spherical collar 34 that can be clampedtherein in a fixed orientation and used to mount the gripper device toan articulated structure.

FIG. 2 is a cross-sectional view of the gripper device of FIG. 1 withthe gripper jaws 12 in a closed position. As depicted, gripper tips 35and 36 secure a workpiece 37 therebetween. Gripper tip 35 is a serratedpoint tip and is attached to the gripper jaw 12 by a threaded screw 38 awhich is inserted into threaded bore 38 b provided in the gripper jaws12. Threaded screw 38 a is received into corresponding threaded boreprovided in the gripper tip 35. Gripper tip 36 is a cone point tip whichis threaded directly into threaded bore 38 b. The illustrated grippertips are presented as examples of various other tips which can be usedin conjunction with the gripper device.

FIG. 2 depicts one manner in which pneumatic or hydraulic differentialmotor cylinder 2 can be defined by end walls which are secured, e.g.,threaded, into cylinder bore 3.

As illustrated in FIG. 2, piston 4 is urged upward by fluid pressurewhich is applied to port 39 of pneumatic or hydraulic differential motorcylinder 2. As piston 4 moves upwardly as depicted in FIG. 2, cam pins16 connected to cross piece 8 slide through cam slots 14 in gripper jaws12, causing the gripper jaws 12 to pivot about pivot pins 19. Thisupward or forward movement of piston 4 causes the gripper jaws 12 topivot into a closed position.

FIG. 3 is a cross-sectional view of the gripper device of FIG. 1 withthe gripper jaws 12 in an open position. As depicted in FIG. 3, piston 4is urged downward by fluid pressure which is applied to port 40 ofpneumatic or hydraulic differential motor cylinder 2. As piston 4 movesdownward as depicted in FIG. 3, cam pins 16 connected to cross piece 8slide through cam slots 14 in gripper jaws 12, causing the gripper jaws12 to pivot about pivot pins 19. This downward or rearward movement ofpiston 4 causes the gripper jaws 12 to pivot into an open position asshown.

FIG. 4 is a partial cross-sectional view of FIG. 2 taken along planeIV—IV. FIG. 4 depicts the manner in which the cross piece 8 is receivedin gap 17 of yoke structure 1 and how the narrow portions 13 of gripperjaw 12 are received in the cutout portions 11 of the cross piece 8 andpivotally secured therein by cam pins 16.

The embodiment of the gripper device depicted in FIGS. 1-4 is designedto lock in both the closed and open position. This locking function isachieved in part by the particular design or shape of the cam slots 14.That is, the cam slots 14 depicted in FIGS. 2 and 3 include threedistinct segments, including two locking segments at either end and acentral pivoting segment. When the cam pins 16 are positioned in eitherof the locking segments at the ends of the cam slots 14, the gripperjaws 12 are locked in corresponding closed or open positions. In theselocked positions, the gripper jaws 12 cannot be pivoted about pivot pins19. For example, as can be seen in FIG. 2, when the piston 4 is moved toits full upward or forward position, cam pins 16 are positioned at oneend of the cam slots 14. This segment of the cam slots 14, identified byreference numeral 41, causes the gripper jaws 12 to be locked in theirclosed position, because the configuration of locking segments 41prevents the gripping jaws 12 from pivoting about pivot pins 19. As canbe seen from FIG. 2, gripper jaws 12 can only pivot about pivot pins 19when cam pins 16 are moved slightly downward by piston 4. In a similarmanner, when cam pins 16 are in locking segments 42 of cam slots 14 asshown in FIG. 3, the gripper jaws 12 cannot be pivoted about pivot pins19.

As the cam pins 16 move between locking segments 41 and 42 of the camslots 14, gripping jaws 12 are pivoted between their closed and openpositions. Thus, the central cam slot segments between the lockingsegments are referred here to central pivoting segments 43.

As can be seen, the locking segments 41 and 42 are configured to preventpivotal movement of the gripping jaws 12 about pivot pins 19. Thecentral pivoting segment 43 on the other hand generally has a continuouscurving shape which can be varied to effect the manner in which thegripping jaws move between their closed and open positions. For example,a portion of the slots having a smaller radius of curvature would causequicker movement of the gripper jaws than a portion having a largerradius of curvature for a constant piston speed. In addition toeffecting the speed or rate at which the gripper jaws move, the curvedshape of the cam slots have been varied to effect the amount of torqueapplied between the gripper jaws. Thus, it is to be understood that theshape of the central pivoting segments 43 of the cam slots 14 can bevaried as desired.

FIG. 5 is an exploded view of a gripper device. The gripper devicedepicted in FIG. 5 can be used with the mounting plate 27 shown in FIG.1. However, since the mounting plate 27 is not shown in FIG. 5, thenarrow cylindrical portion 31 of the pneumatic or hydraulic motor wall30 can be seen in perspective.

The gripper device of FIG. 5 includes a yoke structure 44 and a pistonassembly 58 which moves in a reciprocal manner in the yoke structure 44.Movement of the piston assembly 58 is effected by a pneumatic orhydraulic motor having a cylinder 46 which is formed in the lowerportion of the yoke structure 44 (see FIG. 6). Rather than have a crosspiece as in the gripper device of FIG. 1, the gripper device of FIG. 5includes a single cam pin 47 that is attached to supporting cross piece45, which in turn is attached to the free end of the piston assembly 58.As shown in FIG. 5a, the piston assembly 58 includes a piston 58 a and apiston shaft 58 b. Supporting cross piece 45 is attached to the end ofpiston shaft 58 b by a threaded screw 6 having a threaded end 9 which isreceived in a correspondingly threaded bore 9 a in supporting crosspiece 45. Supporting cross piece 45 includes a through-bore 45 a whichreceives cam pin 47 as depicted. The cam pin 47 passes through cam slots48 in gripper jaws 49, and the ends of the cam pin 47 are received inbushings 50 which slide freely in a pair of longitudinal slots 51 in theside walls of the yoke structure 44. It is noted that the bushings haveflat parallel sides which slide along the inner surfaces of longitudinalslots 51. These flat sides avoid a point contact and allow for the bodyor yoke structure to be made of a softer material such as an aluminumalloy. The bushings 50 are held in place in the longitudinal slots 51between the gripper jaws 49 and side plates 52. Side plates 52 can beattached to the yoke structure 44 by mechanical fastener means, such asscrews 53. Spherical surfaced bearings 54 are provided on the ends ofcam pin 47 to ensure free movement of the cam pin 47 in cam slots 48.

Gripper jaws 49 are pivotally connected to the yoke structure 44 bymeans of a pivot pin 55 which passes through aligned through-bores 56 inthe side walls of the yoke structure 44 and through-bores 57 in thegripper jaws 49.

FIG. 5 also depicts end closure 60 for pneumatic or hydraulic cylinder46.

FIG. 6 is a cross-sectional view of the gripper device of FIG. 5 withthe gripper jaws in a closed position. As depicted, gripper tips 61 and62 secure a workpiece 63 therebetween. Gripper tip 61 is a serratedpoint tip and is attached to the gripper jaw 49 by threaded screw 64 awhich are inserted into threaded bore 64 b provided in the gripper jaws49. Threaded screw is received into corresponding threaded bore providedin gripper tip 61. Gripper tip 62 is a cone point tip and can bedirectly threaded into threaded bore 64 b. The illustrated gripper tipsare presented as examples of various other tips which can be used inconjunction with the gripper device.

FIG. 6 depicts one manner in which pneumatic or hydraulic differentialmotor cylinder 46 can be defined by a bore 66 formed in the bottom ofthe yoke structure 44 which has an end wall or plug 60 secured, e.g.,threaded, in the end of bore 66.

As illustrated in FIG. 6, piston 58 is urged upward by fluid pressurewhich is applied to port 65 of pneumatic or hydraulic differential motorcylinder 46. As piston 58 moves upwardly as depicted in FIG. 6, cam pin47 connected to supporting cross piece 45 slides through cam slots 48 ingripper jaws 49, causing the gripper jaws 49 to pivot about pivot pin55. This upward or forward movement of piston 58 causes the gripper jaws49 to pivot into a closed position.

FIG. 7 is a cross-sectional view of the gripper device of FIG. 5 withthe gripper jaws 49 in an open position. As depicted in FIG. 7, piston58 is urged downward by fluid pressure which is applied to port 67 ofpneumatic or hydraulic differential motor cylinder 46. As piston 58moves downward as depicted in FIG. 7, cam pin 47 connected to supportingcross piece 45 slides through cam slots 48 in gripper jaws 49, causingthe gripper jaws 49 to pivot about pivot pins 55. This downward orrearward movement of piston 58 causes the gripper jaws 49 to pivot intoan open position as shown.

FIG. 8 is a partial cross-sectional view of FIG. 6 taken along planeVIII—VIII. FIG. 8 depicts the manner in which the bearings 54 mounted onthe ends of the cam pin 47 are positioned in the cam slots 48 of thegripper jaws 49, and how the cam pin 47 extends into bushings 50 whichare located in longitudinal slots 51. Side plates 52 are not shown inFIG. 8

The embodiment of the gripper device depicted in FIGS. 5-8 is designedto lock only in the closed position. This locking function is achievedby providing the cam slots 48 with locking segments at one end andpivoting segments throughout the remaining portion thereof. When the campin 47 is positioned in the locking segments of the cam slots 48, thegripper jaws 49 are locked in a closed position as shown in FIG. 6. Inthis locked position, the gripper jaws 49 cannot be pivoted about pivotpin 55. That is, as can be seen in FIG. 6, when the piston 58 is movedto its full upward or forward position, cam pin 47 is positioned at oneend of the cam slots 48. These segments of the cam slots 48, identifiedby reference numeral 68 cause the gripper jaws 49 to be locked in theirclosed position, because the configuration of locking segments 49prevents the gripping jaws 49 from pivoting about pivot pin 55. As canbe seen from FIG. 6, gripper jaws 49 can only pivot about pivot pin 55when cam pin 47 is moved slightly downward by piston 58.

In contrast, when cam pin 47 is in opposite ends of cam slots 48 asshown in FIG. 7, the gripper jaws 49 can be pivoted about pivot pin 55,because at this opposite end of the cam slots 48 the slots have acurvature which allows the gripper jaws 49 to pivot about pivot pin 55.As the cam pin 47 moves between locking segments 68 and the oppositeends of the cam slots 48, gripping jaws 49 are pivoted between theirclosed and open positions. As can be seen, the locking segments 68 areconfigured to prevent pivotal movement of the gripping jaws 49 aboutpivot pin 55. On the other hand, the remaining portion or segment of thecam slots 48 have a continuous curving shape which can be varied toeffect the manner in which the gripping jaws move between their closedand open positions. For example, a portion having a smaller radius ofcurvature would cause quicker movement of the gripper jaws than aportion having a larger radius of curvature for a constant piston speed.Thus, it is to be understood that the shape of the curved segments ofthe cam slots 48 can be varied as desired.

FIGS. 9a and 9 b are side views of an adjustable gripper tiparrangement. As depicted in FIGS. 9a and 9 b, the facing ends of thegripper jaws 70 (one shown) have a concave radial surface 71 which mateswith a corresponding convex radial surface 72 on the gripper tip 73,e.g., a serrated tip or threaded stud. These mating radial surfacesallow the gripper tip 73 to be rotated at installation so that they areperpendicular to a workpiece surface. In this regard, the gripper jaws70 will close at slightly different angles depending on the thickness ofa workpiece. For example, FIG. 9a depicts a gripper jaw 70 which is2.00° off parallel (open) from the surface or central axis of aworkpiece which is 0.242 inch (6.147 mm.) thick. FIG. 9b depicts agripper jaw 70 which is parallel with the surface or central axis of aworkpiece which is 0.094 inch (2.388 mm) thick. In each case, thegripper tip 73 is perpendicular to the surface or central axis of theworkpiece. The gripper tips 73 are adjusted to a particular workpiecethickness, by loosening bolt 74 which attaches the gripper tips 73 tothe gripper jaws 70, and moving the gripper jaws 70 to a closed positionon a workpiece. In this position the gripper tips 73 are rotated againstthe concave surface 71 of the face of the gripper jaws 71 until thegripper tips 73 are perpendicular to the surface or central axis of theworkpiece. Bolts 74 are then tightened to secure the gripper tips 73 inposition.

In FIGS. 10-26d common reference numbers have been used to identifysimilar elements wherever possible for convenience.

FIG. 10 is an exploded view which depicts the components of a modulargripper. The “common elements” of this gripper include the body 101, thepiston assembly 102, jaw pivot pin 105 and the jaw driver assembly. Thepiston assembly 102 includes piston 106, piston seal 107, piston shaft108, and piston shaft seal 109. The jaw driver assembly includes crosspiece 110 which is attached to piston shaft 108, cam pin 111 which iscoupled to cross piece 110, and jaw bushings 112 which are received incam slots 103 of the jaw members 100 and slider bushings 113 which arereceived in longitudinal slots 114 formed in the side walls of the yokestructure of the body 101.

The term “common elements” referred to above is used to identify thebasic elements of a modular gripper to which numerous interchangeableparts or elements can be attached or assembled. The “common elements”include the gripper body and the mechanical elements which are used todrive the gripper jaws.

FIG. 10 depicts a number of different interchangeable gripper jaws 100 ato 100 i which can be assembled in the body 101 and coupled to the jawdriver assembly 102. As depicted, each of the different jaws 100 a to100 i have a different tip end designs and/or cam slots 100 b thateffect different movement characteristics. As depicted in FIG. 10 anddiscussed in more detail below, the modular gripper of the presentdisclosure, can be assembled to include gripper jaws having differenttip designs that can be used for handling, e.g., transporting ortransferring, different types of workpieces. Also as discussed below,the modular gripper can be assembled with gripper jaws 100 havingdifferent cam slot 103 configurations which can effect the angle atwhich one or both jaws open or close, and which determine whether or notthe jaws lock in an open and/or closed position.

Jaw 100 a includes a recessed tip seat 115 and is designed to openeither 22.5° or 45° from a closed position. Jaw 100 b includes arecessed tip seat 115 and is designed to open 75° from a closedposition. Jaw 100 c includes a tip seat which can be recessed and isdesigned to open 55° from a closed position. Jaw 100 d includes a doublechisel point and is designed to open 22.5° from a closed position. Thechisel point includes threaded bores for receiving a cone point or conegripper tip discussed below. Jaw 100 e is similar to jaw 100 d, exceptjaw 100 e includes a single chisel point. Jaw 100 f includes a doublechisel point and is designed to remain stationary. Jaw 100 g is similarto jaw 100 e, except jaw 100 g includes a single chisel point. Jaw 100 hincludes a recessed tip seat 115 and is designed to remain stationary.Jaw 100 i is a flange jaw and includes a tip seat at the end thereof.Jaw 100 i is designed to open 22.5° from a closed position. Jaws 100a-100 i are examples of different gripper jaw designs which can be usedin various combinations. As will be understood from the followingdescription, the shape and configuration of the slots in the jaws can bevaried to effect a desired movement of the jaws, including angulardegree of opening and closing, rate of opening and closing and forceapplied to a workpiece in the closed position. The dimensions depictedthroughout the figures are relative and can be scaled up or down asdesired.

The side or impact plates 104 depicted in FIG. 10 are both adjustableand interchangeable with other impact plate designs which are discussedbelow. In addition, the end closure or plug 60 for the pneumatic orhydraulic cylinder is interchangeable with plugs 60 of different lengthswhich can be used to limit the travel of the piston assembly and hencethe angular movement of the gripper jaws 100.

FIGS. 11a-11 g depict a pivotal gripper jaw having a recessed tip seat115. The gripper jaw 100 of FIGS. 11a-11 g is designed to pivot 45°outward from the closed position. FIG. 11a is a perspective view of thepivotal gripper jaw 100. FIGS. 11b and 11 c are inverted back side viewsof the pivotal gripper jaw 100. FIG. 11d is a top view of the pivotalgripper jaw 100. FIG. 11e is a front side view of the pivotal gripperjaw 100.

Collectively, FIGS. 11a-11 e depict the pivotal gripper jaw 100 asincluding a through-bore 116 for receiving a pivot pin 105 whichconnects the gripper jaw 100 to body or yoke structure 101 as discussedabove. Cam slot 103 has a generally curved shape with a substantiallystraight end portion 118 which effects locking of the gripper jaw 100when the gripper jaw 100 is in its closed position as discussed above.Through-bore 116 is aligned with the central axis of the substantiallystraight end portion 118 of cam slot 103. As the pivot pin 105 movesalong the curved portion of the cam slot 103, angular movement isimparted to the gripper jaw 100 so that the gripper jaw 100 moves 45°between an open and closed position.

The pivotal gripper jaw 100 of FIGS. 11a-11 g includes a gripper tipseat 115. The recessed tip seat 115 includes a threaded bore 117 forreceiving a screw which is used to secure a gripper tip within therecessed tip seat 115. The recessed tip seat 117 provides parallelrecessed edges which engage opposed edges of a gripper tip as discussedbelow and relieve shear forces which would otherwise, i.e., absent theparallel recessed edges, be applied directed to a screw used to secure agripper tip to the gripper jaw 100. According to one embodiment, therecessed seat 115 can have a concave curved surface for receiving agripper tip having a corresponding curved shape as indicated in FIGS. 9aand 9 b. This embodiment would allow the gripper tip to be adjustedparallel to the surface of a workpiece.

FIGS. 11f and 11 g are schematic views of the shape and alignment of thecam slot 103 and through-bore 116. It is to be understood that theangular degree of movement of the pivotal gripper jaw 100 of FIGS.11a-11 g, and other pivotal gripper jaws disclosed herein, can beincreased or decreased by appropriately lengthening or shortening camslot 103. In this regard, the measurements of reference points shown inFIGS. 11a-11 g that are used to define the curved shape of the cam slotare merely relative to one particular example. It is to be understoodthat the dimensions given in FIGS. 11a-11 g are relative and can bescaled up or down as desired. It is further to be understood that thecam slot in FIGS. 11a-11 g is illustrative only, and that the shape ofthe cam slots used in the gripper devices of the present disclosure canvary. Accordingly, FIG. 10 depicts pivotal gripper jaws which move22.5°, 45°, 55°, and 75°. It is obvious from these examples that pivotalgripper jaws can be designed with a variety of angles of movement.

FIGS. 12a-20 c depict different gripper tips which can be usedinterchangeably with gripper jaws having gripper tip seats, or theflange jaw grippers depicted in FIG. 10

FIGS. 12a and 12 b, are schematic views which depict embodiments of conegripper tips. FIG. 12a is a side view of a cone gripper tip 121, andFIG. 12b is an end view of the same tip. The cone gripper tip 121 ofFIGS. 12a and 12 b includes a base 122 which is depicted as having ahexagonal shape, a cylindrical tip 123 which extends from the base 122,and a threaded stud 124 which extends from the base 122 on an oppositeside from the cylindrical tip 123. The cylindrical tip 123 terminates ata point 125 which can be defined by any desired angle. The base 122 isdepicted as having a hexagonal shape. However, it is to be understoodthat the base 122 can be of any desired shape such as square,rectangular, round, round with parallel flat sides, etc. The base 122 isused to tighten the threaded stud 124 into a corresponding threaded boreon the tips of a gripper jaw. Accordingly, the periphery of the base 122should include surfaces which can be easily gripped with a wrench fortightening purposes. The cylindrical shape of the tip 123 is a matter ofconvenience. This tip 123 can have any cross sectional shape such assquare, rectangular, oval, etc.

FIGS. 13a-13 c are schematic views which depict embodiments of conepoint gripper tips which are designed to receive tip elements. FIG. 13ais a side view of a cone point gripper tip and FIGS. 13b and 13 c arefront and end views of the same tip. The cone gripper tip 121′ of FIGS.13a-13 c includes a base 122 which is depicted as having a hexagonalshape, and a threaded stud 124 which extends from one side of the base122. The base 122 has a tip receiver end 123′ defined by a taperedportion which terminates at an internal bore 126. This bore 126 isdesigned to be used with the cone point 121 shown in FIGS. 12a-12 b. Thebore 126 allows a workpiece being gripped between the cone point 121′ ofFIGS. 13a-13 c and the cone point 121 of FIGS. 12a-12 b to be bent awayfrom the point 125 causing a cavity in the workpiece that improves thegripper's ability to hold the workpiece. The base, 122 is depicted ashaving a hexagonal shape. However, it is to be understood that the base122 can be of any desired shape such as square, rectangular, round,round with parallel flat sides, etc. The base 122 is used to tighten thethreaded stud 124 into a corresponding threaded bore on the tips of agripper jaw. Accordingly, the periphery of the base 122 should includesurfaces which can be easily gripped with a wrench for tighteningpurposes. It is noted that the length of the cone gripper tips and thereceiver point gripper tips can vary as desired to achieve any necessaryclearance.

FIGS. 14a, 14 b, 15 a and 15 b are schematic views which depictembodiments of padded gripper tips. FIG. 14a is a side view of a grippertip 127 and FIG. 14b is an end view of the same tip. The padded grippertip 127 of FIGS. 14a and 14 b includes a base 128 which is depicted ashaving a square shape, and a pad portion 129 which is bonded to the base128 and depicted as having a cylindrical shape. The base 128 includes aninternally threaded bore 130 by which the padded gripper tip 127 can beattached to the end of a gripper jaw by passing a threaded member thoughthe end of the jaw and into threaded bore 130. Alternatively, the base128 could be provided with a threaded stud similar to that depicted inFIGS. 12-13.

The pad portion 129 can be bonded to the base 128 by any suitablechemical means such as adhesives, epoxies, thermal bonding or welding,etc. In addition, the padded portion 129 can be mechanically secured tothe base 128. For example the portion of the base 128 which extends intothe pad portion 129 as depicted, could include external threads, bayonetmounting structure, securing projections, etc. by which the pad portion129 could be secured to the base 128.

Neither the base 128 nor the pad portion 129 is limited to the shapesdepicted in FIGS. 14a and 14 b. That is, the base 128 and pad portion129 can have any suitable cross sectional shape, including round,triangular, square, hexagonal, oval, etc. The face 131 of the padportion 129 is provided with an uneven, or grooved surface to increasegripping friction. As depicted, the face 131 of the pad portion 129 isprovided with a series of concentric grooves or ribs 132. Other unevenor grooved or ribbed surface patterns can be used including anycombination of linear and/or curved grooves or ribs, patterns ofprotrusions or indentations, or random surface structures.

As in the case of all the non-padded gripper tips, the base 128 is madefrom a sturdy wear- and impact-resistant material such as a metal. Thepad portion 129 can be made out of any suitable plastic, resinous, orpolymeric material such as urethane.

FIG. 15a is a side view of a padded gripper tip and FIG. 15b is an frontview of the same tip. The padded gripper tip 127 of FIGS. 15a and 15 bdiffer from the padded gripper tip 127 of FIGS. 14a and 14 b in thelength of the base 128. From these drawings it can be understood thatthe base 128 can be any suitable length.

FIGS. 16a-16 d, and 17 a-17 d are schematic views which depictembodiments of diamond point pad gripper tips. FIG. 16a is a prospectiveview of a diamond point pad gripper tip 133. FIG. 16b is a top or faceview thereof. FIG. 16c is an end view thereof. FIG. 16d is a side viewof the same tip. The diamond point pad gripper tip 133 of FIGS. 16a-16 dincludes a substantially rectangular body 134 having opposed sides 135which extend beyond a lower surface 136 thereof so as to define asaddle-like structure. This saddle-like structure is designed to bereceived in and mate with the recessed or stepped structure of thegripper tip seats 115 depicted in FIGS. 10 and 11. The extended portionsof the sides 135 restrict linear movement of the diamond point padgripper tip 133 in one direction and the edges of the recessed orstepped portion of the gripper tip seat 115 restrict linear motion in anorthogonal direction. As depicted, the junction between the lowersurface 136 of the body and the inner surfaces 137 of the extended sideportions 135 may include a recessed area rather than a 90° angle inorder to accommodate any burs, dents, or other imperfections on thecorresponding mating portion of the gripper tip seat structure 115.

The face 138 of the diamond point pad gripper tip 133 is formed with amatrix of protrusions which can be cast or machined into the surfaceduring manufacture. Opposed edges of the face 138 can be beveled asdepicted in FIG. 16b. A stepped through-bore 139 is provided in the face138 of the diamond point gripper tip 133 as depicted. The stepped bore139 has a larger diameter portion at the surface of face 138 whichallows a threaded member used to secure the tip 133 to a gripper jaw tobe counter sunk in the bore 139.

FIG. 17a is a perspective view of a diamond point pad gripper tip 133.FIG. 17b is a top or face view thereof. FIG. 17c is an end view thereof.FIG. 17d is a side view of the same tip. The diamond point pad grippertip 133 of FIGS. 17a-17 d differs from the diamond point pad gripper tip133 of FIGS. 16a-16 d in the height of the body 134. From these drawingsit can be understood that the body 134 can have any suitable height.

FIGS. 18a-18 d and 19 a-19 e depict reversible gripper tips 140 whichhave double cone points 141 and double diamond point pads 142. FIG. 18ais a perspective view of a reversible gripper tip 140. FIG. 18b is a topof view thereof. FIG. 18c is cross sectional view taken along D—D inFIG. 18d. FIG. 18d is a front view of the reversible gripper tip 140.

The reversible gripper tip 140 of FIGS. 18a-18 d includes a central bodyportion 143 which extends between two reversible tip ends 144. Each ofthe reversible tip ends 144 includes opposed gripping surfaces. In theexample shown in FIGS. 18a-18 d, the reversible tip ends 144 include adouble cone point on one face 141 and a double diamond point pad on theopposing face 142. The central body portion 143 includes a through-bore145 by which the reversible tip 140 can be secured in the recessed orstepped portion of a gripper tip seat 115. The manner in which thereversible tips 144 extend beyond the upper and lower surface of thecentral body portion 143 provides saddle-like structures which can matewith the recess or stepped portion of a gripper tip seat 115 asdiscussed above.

As depicted, the junctions between both the upper and lower surfaces ofthe central body portion 143 and the inner surfaces of the reversibletips 144 may include a recessed area rather than a 90° angle in order toaccommodate any burs, dents, or other imperfections on the correspondingmating portion of the gripper tip seat structure. The structure of thedouble cone points 141 and the double diamond point pad 142 are similarto the corresponding structures on the non-reversible tips discussedabove.

FIG. 19a is a perspective view of a reversible gripper tip 140. FIG. 19bis a top of view thereof. FIG. 19c is and end view thereof. FIG. 19d isa front view of the reversible gripper tip 140. The reversible grippertip 140 of FIGS. 19a-19 e is similar to that of FIGS. 18a-18 d exceptthat the reversible gripper tip 140 of FIGS. 19a-19 e includes bores 146in the double diamond point pads 142.

It is noted that the height of the reversible tips 144 and theattachment position of each to the central body portion 143 can bemodified to effect the “height” of each of the opposed gripping facestructures as desired. It is also noted that the double diamond pointpad gripping faces can include a bore 146 or a structure defining aconical region (see FIGS. 18a-18 d) which will enhance gripping of aworkpiece.

FIGS. 20a-20 c are schematic views which depict a reversible doublepadded gripper tip 150. FIG. 20a is a cross sectional side view of thereversible double padded gripper tip 150. FIG. 20b is a top viewthereof. FIG. 20c is a bottom view thereof. The reversible double paddedgripper tip 150 includes a central body portion 151 and opposed tipmembers 152 which extend orthogonally to the central body portion 151 ateither end thereof. According to one embodiment as shown, the centralbody portion 151 includes through-bores members 153 near opposite endsthereof through which the opposed tip 152 extend. The central bodyportion 151 further includes a central through-bore 154 through which athreaded member can be used to secure the reversible double paddedgripper tip 150 to a gripper tip seat 15. The embodiment of the doublepadded gripper 150 tip depicts how the tip members 152 can be shaped toprovide wider or narrower gripping pads on opposite sides of the centralbody portion 151. In an alternate embodiment, the height of the tipmembers 152 and the attachment position of each to the central bodyportion 151 can be modified to effect the “height” of each of thegripping faces of the tip members 152 as desired.

For the reversible double padded gripper tip 150, the central bodyportion 151 can be made from a sturdy wear and impact resistant materialsuch as a metal, and the tip members 152 can be made out of any suitableplastic, resinous, or polymeric material such as urethane.

FIGS. 21a and 21 b are schematic views which depict an example of amodular fluid activated gripper that has upper and lower gripper jaws100 a which can pivot 45° outward from the closed position. FIG. 21a isa side view of the modular fluid actuated gripper which depicts theupper and lower gripper jaws 100 a in their closed position. The openposition of the gripper jaws 100 a is depicted in phantom. Each of thegripper jaws includes a gripper tip seat 115. FIG. 21b is a bottom viewof the modular fluid actuated gripper of FIG. 21a. It is also pointedout that FIGS. 21 and 26 illustrate the use of side or impact plates 104that have different shapes. More particularly, the side or impact plateshave impact surfaces which extend outward at the side or sides of thegripper where pivotal gripper jaws are used since the gripper can bemoved towards a workpiece until the leading edge of the impact platescontact the workpiece, proper adjustment of the impact plates may needto be made to ensure alignment and position of the workpiece in the jawsof the gripper. As seen in the drawings, these extended impact surfacesare not required for stationary gripper jaws.

FIGS. 22a-22 b and 23 a-23 c are schematic views which depictembodiments of the end closure or plug 60 that is illustrated in FIG. 5.FIGS. 22a and 22 b depict a threaded plug 60 which is designed to beinserted into bottom of the pneumatic or hydraulic cylinder 46. FIG. 22ais a cross sectional view of the plug 60 and FIG. 22b is an end viewthereof. The plug 60 includes a threaded portion 160 by which it issecured into a corresponding bore in the bottom of the pneumatic orhydraulic cylinder 46. A groove 161 is provided on the periphery of theplug 60 and used to secure an O-ring or similar sealing gasket. In orderto tighten plug 60 in the bottom of the pneumatic or hydraulic cylinder46, a keyed bore or tightening tool receiving structure 162 is providedin the bottom 163 of the plug 60. This keyed bore 162 can have anyconvenient shape which allows it to receive a tightening tool, such ashexagonal for receiving an allen wrench, a groove for receiving a screwdriver, or any similar shape.

The length of the plug 60, when inserted in the bottom of the pneumaticor hydraulic cylinder, can limit the distance the piston assembly moves,and thus the angle at which pivotal gripper jaws open. Therefore,according to the present disclosure, a variety of plug lengths can byused interchangeably to control the angle at which pivotal gripper jawsopen. According to one embodiment, a threaded plug 60 can be used withindicia corresponding to the depth at which it is threaded into thebottom of the cylinder. The position or depth of this plug 60 could beadjusted, using the indicia as a reference, to limit the distance thepiston assembly moves. It is also possible to used a locking element,e.g., threaded ring or nut, to keep the position of the plug 60 fixed.

The closure or plug of FIGS. 23a-23 c is reversible and has twodifferent lengths or depths which can be used to limit the distance thepiston assembly moves in the cylinder. FIG. 23a is a cross sectionalview of the plug 60′. FIGS. 23b and 23 c are opposite end views thereof.The reversible plug 60′ has an externally threaded center portion 160with grooves 161 adjacent either side of the central threaded portion160. These grooves 161 are provided to receive O-rings or other similarsealing members. Each end of the reversible plug 60′ has a keyed bore ortightening tool receiving structure 162 as discussed with reference toFIGS. 22a-22 b. As depicted in FIG. 23a, the central threaded portion160 is actually offset from the center of the length of the plug 60′ sothat the distance from the threaded portion 160 to either end of theplug 60′ is different. This provides a plug 60′ that has two differentlengths or depths when inserted and secured into a bore at the bottom ofthe pneumatic or hydraulic cylinder. Reversing the plug 60′ allowsselection between the two lengths or depths, and thus adjustment of theangle at which a pivotal gripper jaw moves.

FIGS. 24a and 24 b depict a modular gripper secured in a mounting plate27. FIG. 24a is a side view of the assembly; and FIG. 24b is an end viewof the assembly. As discussed above in reference to FIG. 1, plate 27includes an opening 33 which can receive a spherical collar 34 that canbe clamped therein in a fixed orientation and used to mount the gripperdevice to an articulated structure. The spherical collar 34 receives asupport 165 as depicted in FIG. 24a allows the mounting plate 27 andmodular gripper attached thereto, to be adjusted over an angular rangedefined between the support 165 and mounting plate 27 by rotating thespherical collar 34 in opening 33.

As depicted in FIG. 24b, the modular gripper can be adjusted 360° byrotation thereof in opening 32. These adjustments allow the modulargripper to be positioned at virtually any angle with respect to support165.

The range of angular adjustment between the support 165 and mountingplate 27 which is effected by rotating the spherical collar in opening33 is dependent on the spherical shape of the spherical collar andclearance between the support and mounting plate. Angular ranges of 30°off center are easily provided, however larger ranges are possible.

As discussed above, the mounting plate 27 includes two halves which aresecured together by screws or bolts which extend into threaded bores 29.The use of three threaded bores allows separate loosening and angularadjustment of either the spherical collar 34 or the modular gripper. Inthis regard, loosening only the screw or bolt at one end of the mountingplate 27 is sufficient to loosen the adjacent spherical collar 34 ormodular gripper, while maintaining the other in a secured manner. Thisfeature allows easy and separate adjustment of the mounting plate 27with respect to the support 165 or the modular gripper with respect tothe mounting plate 27. In order to provide a tighter grip, the sphericalcollar 34 can have a roughened, e.g., ribbed, grooved, etc., outersurface. Making the spherical collar 34 out of a hard metal and makingthe mounting plate 27 out of a softer steel or an alloy of aluminum,brass, etc. will also allow better gripping between the two. It is alsopossible to provide open 33 with a roughened inner surface.

FIGS. 25a-25 d depict a self aligning gripper tip. FIGS. 25a and 25 bare prospective views of different embodiments of the self aligninggripper tip 170. FIG. 25c is a side view of the self aligning grippertip in the end of a gripper jaw 100. FIG. 25d is an end view of FIG. 25cwhich depicts how the self aligning gripper tip 170 is secured in theend of a gripper jaw 100.

The self aligning gripper tip 170 is designed to rotate as needed toalign the gripping surface thereof with a workpiece. The self adjustinggripper tip 170 includes a cylindrical body 171 having a projectingstructure 172 along one side thereof which projecting structure 172includes a gripping surface 173. The gripping surface 173 can beroughened, include teeth structures, grooves, or any suitable surfacestructures. According to the embodiment of the self aligning gripper tip170 depicted in FIG. 25a, one end of the cylindrical body 171 includes aflange 174 and the other end is provided with an internally threadedbore which can receive a threaded member 175. The threaded member 175includes a flange 176 which is used to secure the self aligning grippertip 170 in a gripping jaw 100 as discussed below.

In the embodiment of the self aligning gripper tip 170 depicted in FIG.25b, a groove 177 is provided on one end of the cylindrical body 171.This groove 177 can receive a snap ring 178 that can be used alone or incombination with a washer to secure the self aligning gripper tip 170 ina gripper jaw 100. Although FIG. 25b depicts the use of a snap ring 178and corresponding groove 177 on one end of the self aligning gripper tip170, it is to be understood that the flange 174 in FIG. 25b and in FIG.25a could be replaced with groove 177 and a snap ring 178.

FIGS. 25c and 25 d depict how the self aligning gripper tip 170 issecured in a gripper jaw 100. As shown the gripper jaw 100 includes athrough-bore 179 which intersects a lower surface 180 thereof, so that aslot is formed at the lower surface 180. The self aligning gripper tip170 is inserted in through-bore 179 and secured in place by the flange174 which abuts one side of the gripper jaw 100 and by threaded member175 (and optional washer 181) which is threaded into the self aligninggripper tip 170. In the alternative embodiment depicted in FIG. 25b thesnap ring 178 (an optional washer) would be used to secure one or bothends of the self aligning gripper tip 170 in through-bore 179.

As depicted in FIG. 25c, the projecting structure 172 is allowed torotate in the direction of double-headed arrow “a” as the cylindricalbody 171 of the self aligning gripper tip 170 rotates in through-bore179. This rotation of the projecting structure 172 allows the grippingsurface 173 to align with the surface of a workpiece.

FIGS. 26a and 26 b are schematic views which depict a modular fluidactivated gripper having an upper pivotal gripper jaw 100 c and a lowerstationary gripper jaw 100 i. The lower stationary gripper jaw has agripper tip seat which faces outward or forward from the modular fluidactuated gripper as depicted in FIG. 26b. The upper pivotal gripper jaw100 c has a curved shape which allows it to pivot so that the grippertip seats 115 of each gripper jaw are in face to face alignment asdepicted in FIG. 26a when the upper gripper jaw is in its closedposition. The open position of the upper gripper jaw is depicted inphantom in FIG. 26a.

Although the present disclosure has been described with reference toparticular means, materials and embodiments, from the foregoingdescription, one skilled in the art can easily ascertain the essentialcharacteristics of the present disclosure and various changes andmodifications may be made to adapt the various uses and characteristicswithout departing from the spirit and scope of the present invention asset forth in the following claims.

What is claimed is:
 1. A mounting bracket to hold a fluid actuated partsgripper which comprises: a body having first and secondthrough-openings, the first through-opening configured to receive thefluid actuated parts gripper and the second through-opening configuredto receive a support; longitudinally extending fasteners each of whichis disposed substantially parallel to each other and are spaced apartfrom each other by a distance greater than the diameter of the secondthrough-opening, said fasteners also extending through the body onopposed sides of the second through-opening; wherein the secondthrough-opening has a single variable space extending from the secondthrough-opening and through the body to its periphery; and wherein oneof the longitudinally extending fasteners extends through the variablespace to vary the diameter of the second through-opening to lock andunlock in position the support with respect to the mounting bracket. 2.The mounting bracket of claim 1, wherein the body having variable spacedisposed therein in communication with the first through-opening to varythe diameter of the first through-opening.
 3. The mounting bracket ofclaim 1, wherein the first through-opening is cylindrical shaped and thesecond through-opening is circular with a semi-spherical concave shapedrecess disposed therein.
 4. The mounting bracket of claim 3, wherein thesecond through-opening comprises a semi-spherical collar.
 5. Themounting bracket of claim 1, wherein one of the longitudinally extendingfasteners locks and unlocks the support.
 6. A mounting bracket to hold afluid actuated parts gripper which comprises: a body having first andsecond through-openings, the first through-opening configured to receivethe fluid actuated parts gripper and the second through-openingconfigured to receive a support; wherein the first and secondthrough-openings are of unequal diameters; said body comprising firstand second coupled plate members having opposed facing surfacesextending to first and second segments each of the first and secondcoupled plate members, respectively; wherein opposed facing surfaces ofeach of the first and second coupled plate members define the secondthrough-opening; and wherein the opposed facing surfaces of the firstsegments of the first and second coupled plate members form a slotopening, and the opposed facing surfaces of the second segments of thefirst and second coupled plate members abut each other; bolts couplingthe pair of coupled plate members together, the bolts being located onopposite sides of the second through-opening, wherein one of the boltsis disposed through the opposed facing surfaces of the second segmentsof the first and second coupled plate members to securely abut theopposed facing surfaces together; and wherein another of the bolts isdisposed through the opposed facing surfaces of the first segments ofthe first and second coupled plate members to reduce or enlarge the slotopening to, respectively, lock and unlock in position the support withrespect to the mounting bracket.
 7. The mounting bracket of claim 6,wherein the body having a variable space in communication with the firstthrough-opening to vary the diameter of the first through-opening. 8.The mounting bracket of claim 6, wherein the first through-opening iscylindrical shaped and the second through-opening is circular with asemi-spherical concave shaped recess disposed therein.
 9. The mountingbracket of claim 8, wherein the second through-opening comprises asemi-spherical collar.
 10. The mounting bracket of claim 6, wherein oneof the bolts locks and unlocks the support.
 11. A mounting bracket tohold a fluid actuated parts gripper which comprises: a body having firstand second through-openings, the first through-opening configured toreceive the fluid actuated parts gripper and the second through-openingconfigured to receive a support; wherein the first and secondthrough-openings are of unequal diameters; a semi-spherical collardisposed in the second through-opening; said body comprising first andsecond coupled plate members having opposed facing surfaces extending tofirst and second segments each of the first and second coupled platemembers, respectively; wherein opposed facing surfaces of each of thefirst and second coupled plate members define the secondthrough-opening; and wherein the opposed facing surfaces of the firstsegments of the first and second coupled plate members form a firstsingle slot opening in communication with the second through-opening,and the opposed facing surfaces of the second segments of the first andsecond coupled plate members abut each other; and wherein the opposedfacing surfaces of the first segments of the first and second coupledplate members form a second single slot opening in communication withthe first through-opening; bolts coupling the coupled plate memberstogether, wherein the bolts are located on opposite sides of the secondthrough-opening, wherein one of the bolts is disposed through theopposed facing surfaces of the second segments of the first and secondcoupled plate members to securely abut the opposed facing surfacestogether; and wherein another of the bolts is disposed through theopposed facing surfaces of the first segments of the first and secondcoupled plate members to reduce or enlarge the slot opening to,respectively, lock and unlock in position the support with respect tothe mounting bracket.
 12. A mounting bracket for a workpiece holderaccording to claim 11 wherein the body is made from a material which issofter than a material from which the semi-spherical collar is made. 13.A mounting bracket for a workpiece holder according to claim 12 whereinthe semi-spherical collar has an outer surface which is roughened. 14.An assembly for mounting a workpiece holder to a support member whichcomprises: a workpiece holder including at least one movable jaw and abody having a cylindrical portion; a mounting bracket comprising aplurality of coupled plate members each having opposed facing surfacesand first and second spaced apart through-openings provided between thecoupled plate members; wherein the through-openings are defined in theopposed facing surfaces of the plurality of coupled plate members,wherein the first through-opening has a cylindrical bore, the secondthrough-opening has a partial spherical shaped bore, and the cylindricalportion of the workpiece holder body is positioned within the firstthrough-opening; wherein the support member is positioned within thesecond through-opening; and bolts coupling the plurality of coupledplate members together, the bolts located at opposite ends of theplurality of coupled plate members, wherein the support member canindependently rotate 360 degrees and pivot within the secondthrough-opening when one of the bolts located adjacent the secondthrough-opening is loosened.
 15. The assembly for mounting a workpieceholder to a support according to claim 14, wherein the workpiece holdercan independently rotate 360 degrees within the first through-openingwhen one of the bolts located adjacent the first through-opening isloosened.
 16. A mounting bracket for a workpiece holder which comprises:a plurality of plate members having opposed facing surfaces and havefirst and second spaced apart through-openings provided between theplurality of plate members and defined adjacent the opposed facingsurfaces thereof; the first through-opening having a cylindrical boreand the second through-opening having a partial spherical shaped bore;and a plurality of bolts that join the plurality of plate memberstogether; wherein the plurality of plate members can be uncoupled byremoving the bolts.
 17. The mounting bracket for a workpiece holderaccording to claim 16, wherein the plurality of plate members arecoupled together by bolts which are located on opposite sides of thesecond through-opening.
 18. A mounting bracket for a workpiece holderaccording to claim 16, wherein the first through-opening has a diameterwhich is larger than a diameter of the second through-opening.
 19. Anassembly for mounting a workpiece holder to a support which comprises: aworkpiece holder including at least one movable jaw member and a bodyhaving a cylindrical portion; a mounting bracket including a pluralityof coupled plate members having opposed facing surfaces and first andsecond spaced apart through-openings provided between the plurality ofcoupled plate members; wherein the through-openings are defined adjacentthe opposed facing surfaces of the plurality of coupled plate members;wherein the first through-opening has a cylindrical bore, the secondthrough-opening has a semi-spherical shaped bore, and the cylindricalportion of the workpiece holder body is positioned within the firstthrough-opening; and longitudinally extending fasteners located at eachof the facing surfaces on opposite sides of each of the secondthrough-opening for coupling the plurality of plate members.